Kalman Filtering and Neural Networks P7

THE UNSCENTED KALMAN FILTER Eric A. Wan and Rudolph van der Merwe Department of Electrical and Computer Engineering, Oregon Graduate Institute of Science and Technology, Beaverton, Oregon, U.S.A. 7.1 INTRODUCTION In this book, the extended Kalman filter (EKF) has been used as the standard technique for performing recursive nonlinear estimation. The EKF algorithm, however, provides only an approximation to optimal nonlinear estimation. In this chapter, we point out the underlying assumptions and flaws in the EKF, and present an alternative filter with performance superior to that of the EKF. This algorithm, referred to as the unscented Kalman filter (UKF), was first proposed by...